Julian Oes
963d15eacc
manual_control: use correct sysid/compid
2021-11-09 16:05:25 +01:00
Julian Oes
cfdb53a4d8
manual_control: don't switch gear on first init
...
This will ignore the first transition from NONE to something.
This matches the behaviour that existed before.
2021-11-09 16:05:25 +01:00
Julian Oes
60de330f18
manual_control: add hysteresis for arm button back
2021-11-09 16:05:25 +01:00
Julian Oes
75209a7552
manual_control: address review comments
2021-11-09 16:05:25 +01:00
Matthias Grob
942eb23248
ManualControlSelector: remove commented stick difference filter draft
2021-11-09 16:05:25 +01:00
Matthias Grob
11a46d3d27
ManualControlSelectorTest: add constantly outdated samples case
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Reviewing the code I saw this case arising from the order things
get checked.
2021-11-09 16:05:25 +01:00
Julian Oes
39282a795f
manual_control: fix tests
2021-11-09 16:05:25 +01:00
Julian Oes
53bd254502
commander: add valid check
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Better checking once too much than once too little.
2021-11-09 16:05:25 +01:00
Julian Oes
efd8757fda
manual_control: handle NAN
2021-11-09 16:05:25 +01:00
Julian Oes
374c9f38a7
manual_control: use constrain() instead
2021-11-09 16:05:25 +01:00
Julian Oes
2a41ade223
manual_control: update first, get diff after
...
Not sure why I had this the wrong way round.
2021-11-09 16:05:25 +01:00
Julian Oes
d0fea93d72
manual_control: add reset to diff
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This should prevent triggering user override right after RC re-appears.
2021-11-09 16:05:25 +01:00
Julian Oes
93c505b163
commander: force arming is not an option from RC
2021-11-09 16:05:25 +01:00
Julian Oes
4a5ef1c81e
ROMFS: whitespace
2021-11-09 16:05:25 +01:00
Julian Oes
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
Julian Oes
baf81abbab
msg: whitespace only
2021-11-09 16:05:25 +01:00
Julian Oes
14cfad74bf
manual_control: remove leftover debug statements
2021-11-09 16:05:25 +01:00
Julian Oes
5ae76bdc17
commander: fix potentially wrong user message
2021-11-09 16:05:25 +01:00
Julian Oes
bd0c1014d9
manual_control: support arming button
...
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
2021-11-09 16:05:25 +01:00
Julian Oes
9cbfa2ca95
manual_control: ORBIT and PRECLAND not supported
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ORBIT and PRECLAND are not actually possible on the flight mode switch.
2021-11-09 16:05:25 +01:00
Julian Oes
2e9edfcd89
commander: only override according to param
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This got lost in the refactor earlier.
2021-11-09 16:05:25 +01:00
Julian Oes
56b2b81600
manual_control: use filter to check user override
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Instead of only looking at the diff between two RC samples to decide
whether a user wants to override, we now look at the filtered diff over
one second. This should be more robust to RC sent at various or varying
rates.
2021-11-09 16:05:25 +01:00
Julian Oes
97d01f200e
commander: move manual_control and switches out
...
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
2021-11-09 16:05:25 +01:00
Julian Oes
e49b596edc
commander: add desired main state
...
This is an intermediate solution to carry forward the initial state of
the mode slot. Basically, it allows that we start up in Stabilized but
switch to POSCTL as soon we have the required GPS.
2021-11-09 16:05:25 +01:00
Julian Oes
b6af068f25
commander: always reset posvel validity
...
I assume reseting posvel validity is ok for any case, not just all cases
except manual, acro, stabilized.
2021-11-09 16:05:25 +01:00
Julian Oes
52563264e6
commander: move valid mission check inside
...
I think it makes more sense to move this check inside of
main_state_transition.
2021-11-09 16:05:25 +01:00
Julian Oes
916ffef04c
manual_control: send initial mode in the beginning
...
In order for commander to know the desired mode we need to send the
initial position of the mode slot.
2021-11-09 16:05:25 +01:00
Julian Oes
a91fa7f3c1
commander: only move to POSCTL when armed
...
I don't think we want to switch to POSCTL when the sticks are moved when
armed.
2021-11-09 16:05:25 +01:00
Julian Oes
66b069e788
commander: move main_state_transition out
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This is a first step to having a desired main state.
2021-11-09 16:05:25 +01:00
Julian Oes
e2e908d0fc
mavlink: remove unused methods
2021-11-09 16:05:25 +01:00
Julian Oes
97aa06cc19
commander: move switch handling to manual_control
2021-11-09 16:05:25 +01:00
Julian Oes
08e58a44e9
Fix style
2021-11-09 16:05:25 +01:00
Julian Oes
71d6aa913d
manual_control: starting to implement switches
2021-11-09 16:05:25 +01:00
Julian Oes
ac121c676a
commander: check for valid flag for manual_control
2021-11-09 16:05:25 +01:00
Julian Oes
cda6524421
manual_control: move override detection
...
This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
2021-11-09 16:05:25 +01:00
Julian Oes
1c15cc11d8
manual_control: implement (dis)arming via command
2021-11-09 16:05:25 +01:00
Julian Oes
8876af9150
manual_control: add instance to selector
...
This instance is then used to schedule the callback for the
subscription.
2021-11-09 16:05:25 +01:00
Julian Oes
14eb656a59
rc_update: use snake_case for namespace name
2021-11-09 16:05:25 +01:00
Julian Oes
6e8ccf6a45
rc_update: rename update method
...
This reflects better what it actually does.
2021-11-09 16:05:25 +01:00
Julian Oes
723db8bf2a
manual_control: add selector class [WIP]
...
This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
2021-11-09 16:05:25 +01:00
Julian Oes
eeb7682fd9
ROMFS: start manual_control for SITL
2021-11-09 16:05:25 +01:00
Daniel Agar
2d816e0b3e
[WIP] manual_control selector hacks
2021-11-09 16:05:25 +01:00
Daniel Agar
e18cf3da3e
sensors/vehicle_imu: use WelfordMean for online mean and variance
2021-11-09 15:19:35 +01:00
Daniel Agar
a8c3bcca32
boards: disable CONFIG_STM32H7_SPI_DMATHRESHOLD
2021-11-08 19:20:47 -05:00
Daniel Agar
cb34ff1292
posix-configs/SITL/init/test/test_imu_filtering enable gyro dynamic notch filtering by default
2021-11-08 19:14:32 -05:00
Daniel Agar
e0d9ccdc18
sensors/vehicle_angular_velocity: small FFT notch update simplification
2021-11-08 19:14:32 -05:00
Daniel Agar
47afab62e7
gyro_fft: limit noise floor to configured range (IMU_GYRO_FFT_MIN/MAX)
2021-11-08 19:14:32 -05:00
Daniel Agar
dd3e0b723a
gyro_fft: add IMU_GYRO_FFT_SNR parameter
2021-11-08 19:14:32 -05:00
Matthias Grob
6fab6242db
setup/python requirements: add future module
...
which is a requirement for MAVLink header generation.
Found on Ubuntu 20.04 Python 3.
2021-11-08 17:05:30 +01:00
Silvan Fuhrer
b216cddf49
state_machine_helper: add place holder in array nav_state_names for removed LANDGPSFAIL mode
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2021-11-08 13:42:55 +01:00